#ifndef __ENCODER_TASK_H__
#define __ENCODER_TASK_H__

#include "ble_remote.h"
#include "cmsis_os.h"
#include "main.h"
#include "motor.h"

#define LESSEN_FACTOR 0.02

typedef struct _CHASSIS_CONTROL_T {
  const remote_t *chassis_RC;
  Motor motor[4];
  float x;
  float y;
  float w;
} Chassis_Control_t;

// #define POLL_INTERVAL_MS 99 //轮询间隔

#endif  // !__ENCODER_TASK_H__
